Emotion-based Walking of a Biped Humanoid Robot
This paper describes the emotional walking of a biped humanoid robot based on its body motion. We consider three emotions such as happiness, sadness and anger. These emotions are defined by motion parameters of the biped robot. To express the emotions as walking motions, the patterns of the low-limbs, upper-limbs and head are preset using a polynomial. While the biped robot is emotionally walking according to the patterns, its stability is maintained by using the combined motion of the trunk and waist that is calculated by a body motion control method. To confirm the emotion expression, we have constructed a human-like robot WABIAB-RII (WAseda BIpedal humANoid robot-Revised II) which has forty-three mechanical degrees of freedom.
KeywordsMotion Parameter Humanoid Robot Biped Robot Biped Walking Mechanical Degree
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